#include "stm32f10x.h"                  // Device header

void DC_PWM_Init(void)
{
    
    
/////////////*PB0和PB1控制电机脉冲,PA1控制舵机脉冲*/////////////////
    
    
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //推挽输出
	GPIO_InitStructure.GPIO_Pin =GPIO_Pin_1 ;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
    
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_0 ;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStructure);
    
    
	TIM_InternalClockConfig(TIM2);
    TIM_InternalClockConfig(TIM3);
    

	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 100 - 1;		//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
      
      
////////////*产生20ms的脉冲控制舵机*/////////////////


	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;		//ARR
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;		//PSC
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
	
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = 0;		//CCR
	TIM_OC4Init(TIM3, &TIM_OCInitStructure);
	TIM_OC3Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);
    
    TIM_Cmd(TIM2, ENABLE);
	TIM_Cmd(TIM3, ENABLE);
}

void PWM_SetCompare2(uint16_t Compare1)
{
	TIM_SetCompare2(TIM2, Compare1);
}

void PWM_SetCompare3(uint16_t Compare)
{
	TIM_SetCompare3(TIM3, Compare);
}

void PWM_SetCompare4(uint16_t Compare)
{
	TIM_SetCompare4(TIM3, Compare);
}

